remove the implementation temporary, add them with fallback in the fe…

…ature

1. add DEFINE_CONTENT_FILTER with default(ON) to build content filter interfaces
2. user need a compile option(CONTENT_FILTER_ENABLE) to turn on the feature
to set the filter or call the interfaces

Signed-off-by: Chen Lihui <[email protected]>

rclcpp/CMakeLists.txt

@@ -2,6 +2,11 @@ cmake_minimum_required(VERSION 3.12)
 
 project(rclcpp)
 
+option(DEFINE_CONTENT_FILTER "Content filter feature support" ON)
+if(DEFINE_CONTENT_FILTER)
+  add_definitions(-DCONTENT_FILTER_ENABLE)
+endif()
+
 find_package(Threads REQUIRED)
 
 find_package(ament_cmake_ros REQUIRED)

rclcpp/include/rclcpp/subscription_base.hpp

@@ -491,14 +491,7 @@ class SubscriptionBase : public std::enable_shared_from_this<SubscriptionBase>
     event_handlers_[event_type]->clear_on_ready_callback();
   }
 
-  /// Check if content filtered topic feature of the subscription instance is enabled.
-  /**
-   * \return boolean flag indicating if the content filtered topic of this subscription is enabled.
-   */
-  RCLCPP_PUBLIC
-  bool
-  is_cft_enabled() const;
-
+#ifdef CONTENT_FILTER_ENABLE
   /// Set the filter expression and expression parameters for the subscription.
   /**
    * \param[in] filter_expression An filter expression to set.
@@ -528,6 +521,7 @@ class SubscriptionBase : public std::enable_shared_from_this<SubscriptionBase>
   get_content_filter(
     std::string & filter_expression,
     std::vector<std::string> & expression_parameters) const;
+#endif  // CONTENT_FILTER_ENABLE
 
 protected:
   template<typename EventCallbackT>

rclcpp/include/rclcpp/subscription_options.hpp

@@ -82,6 +82,7 @@ struct SubscriptionOptionsBase
 
   QosOverridingOptions qos_overriding_options;
 
+#ifdef CONTENT_FILTER_ENABLE
   /// Options to configure content filtered topic in the subscription.
   struct ContentFilterOptions
   {
@@ -95,6 +96,7 @@ struct SubscriptionOptionsBase
   };
 
   ContentFilterOptions content_filter_options;
+#endif  // CONTENT_FILTER_ENABLE
 };
 
 /// Structure containing optional configuration for Subscriptions.
@@ -137,21 +139,6 @@ struct SubscriptionOptionsWithAllocator : public SubscriptionOptionsBase
       rmw_implementation_payload->modify_rmw_subscription_options(result.rmw_subscription_options);
     }
 
-    // Copy content_filter_options into rcl_subscription_options.
-    if (!content_filter_options.filter_expression.empty()) {
-      std::vector<const char *> cstrings =
-        get_c_vector_string(content_filter_options.expression_parameters);
-      rcl_ret_t ret = rcl_subscription_options_set_content_filter_options(
-        get_c_string(content_filter_options.filter_expression),
-        cstrings.size(),
-        cstrings.data(),
-        &result);
-      if (RCL_RET_OK != ret) {
-        rclcpp::exceptions::throw_from_rcl_error(
-          ret, "failed to set content_filter_options");
-      }
-    }
-
     return result;
   }
 

rclcpp/include/rclcpp/utilities.hpp

@@ -321,15 +321,6 @@ RCLCPP_PUBLIC
 const char *
 get_c_string(const std::string & string_in);
 
-/// Return the std::vector of C string from the given std::vector<std::string>.
-/**
- * \param[in] string_in is a std::string
- * \return the std::vector of C string from the std::vector<std::string>
- */
-RCLCPP_PUBLIC
-std::vector<const char *>
-get_c_vector_string(const std::vector<std::string> & strings);
-
 }  // namespace rclcpp
 
 #endif  // RCLCPP__UTILITIES_HPP_

rclcpp/include/rclcpp/wait_for_message.hpp

@@ -59,9 +59,6 @@ bool wait_for_message(
   RCPPUTILS_SCOPE_EXIT(wait_set.remove_subscription(subscription); );
   wait_set.add_guard_condition(gc);
   auto ret = wait_set.wait(time_to_wait);
-  // if it is fixed in other PR, remove them and rebase.
-  wait_set.remove_subscription(subscription);
-  wait_set.remove_guard_condition(gc);
   if (ret.kind() != rclcpp::WaitResultKind::Ready) {
     return false;
   }

rclcpp/src/rclcpp/subscription_base.cpp

@@ -20,8 +20,6 @@
 #include <unordered_map>
 #include <vector>
 
-#include "rcpputils/scope_exit.hpp"
-
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/expand_topic_or_service_name.hpp"
 #include "rclcpp/experimental/intra_process_manager.hpp"
@@ -357,89 +355,26 @@ SubscriptionBase::set_on_new_message_callback(
   }
 }
 
-bool
-SubscriptionBase::is_cft_enabled() const
-{
-  return rcl_subscription_is_cft_enabled(subscription_handle_.get());
-}
-
+#ifdef CONTENT_FILTER_ENABLE
 void
 SubscriptionBase::set_content_filter(
   const std::string & filter_expression,
   const std::vector<std::string> & expression_parameters)
 {
-  rcl_subscription_content_filter_options_t options =
-    rcl_subscription_get_default_content_filter_options();
-
-  std::vector<const char *> cstrings =
-    get_c_vector_string(expression_parameters);
-  rcl_ret_t ret = rcl_subscription_content_filter_options_init(
-    get_c_string(filter_expression),
-    cstrings.size(),
-    cstrings.data(),
-    &options);
-  if (RCL_RET_OK != ret) {
-    rclcpp::exceptions::throw_from_rcl_error(
-      ret, "failed to init subscription content_filtered_topic option");
-  }
-  RCPPUTILS_SCOPE_EXIT(
-  {
-    rcl_ret_t ret = rcl_subscription_content_filter_options_fini(&options);
-    if (RCL_RET_OK != ret) {
-      RCLCPP_ERROR(
-        rclcpp::get_logger("rclcpp"),
-        "Failed to fini subscription content_filtered_topic option: %s",
-        rcl_get_error_string().str);
-      rcl_reset_error();
-    }
-  });
+  static_cast<void>(filter_expression);
+  static_cast<void>(expression_parameters);
 
-  ret = rcl_subscription_set_content_filter(
-    subscription_handle_.get(),
-    &options);
-
-  if (RCL_RET_OK != ret) {
-    rclcpp::exceptions::throw_from_rcl_error(ret, "failed to set cft expression parameters");
-  }
+  rclcpp::exceptions::throw_from_rcl_error(RMW_RET_UNSUPPORTED, "content filter unsupported");
 }
 
 void
 SubscriptionBase::get_content_filter(
   std::string & filter_expression,
   std::vector<std::string> & expression_parameters) const
 {
-  rcl_subscription_content_filter_options_t options =
-    rcl_subscription_get_default_content_filter_options();
-
-  // use rcl_content_filter_options_t instead of char * and
-  rcl_ret_t ret = rcl_subscription_get_content_filter(
-    subscription_handle_.get(),
-    &options);
+  static_cast<void>(filter_expression);
+  static_cast<void>(expression_parameters);
 
-  if (RCL_RET_OK != ret) {
-    rclcpp::exceptions::throw_from_rcl_error(ret, "failed to get cft expression parameters");
-  }
-
-  RCPPUTILS_SCOPE_EXIT(
-  {
-    rcl_ret_t ret = rcl_subscription_content_filter_options_fini(&options);
-    if (RCL_RET_OK != ret) {
-      RCLCPP_ERROR(
-        rclcpp::get_logger("rclcpp"),
-        "Failed to fini subscription content_filtered_topic option: %s",
-        rcl_get_error_string().str);
-      rcl_reset_error();
-    }
-  });
-
-  rmw_subscription_content_filter_options_t * content_filter_options =
-    options.rmw_subscription_content_filter_options;
-  if (content_filter_options->filter_expression) {
-    filter_expression = content_filter_options->filter_expression;
-  }
-
-  for (size_t i = 0; i < content_filter_options->expression_parameters.size; ++i) {
-    expression_parameters.push_back(
-      content_filter_options->expression_parameters.data[i]);
-  }
+  rclcpp::exceptions::throw_from_rcl_error(RMW_RET_UNSUPPORTED, "content filter unsupported");
 }
+#endif  // CONTENT_FILTER_ENABLE

rclcpp/src/rclcpp/utilities.cpp

@@ -214,17 +214,4 @@ get_c_string(const std::string & string_in)
   return string_in.c_str();
 }
 
-std::vector<const char *>
-get_c_vector_string(const std::vector<std::string> & strings)
-{
-  std::vector<const char *> cstrings;
-  cstrings.reserve(strings.size());
-
-  for (size_t i = 0; i < strings.size(); ++i) {
-    cstrings.push_back(strings[i].c_str());
-  }
-
-  return cstrings;
-}
-
 }  // namespace rclcpp